A suite of tools for debugging distributed autonomous systems

Describes a set of tools that allows a developer to instrument an autonomous control system to log data at run-time and then analyze that data to verify correct program behavior. Analysis is done using an interval logic that allows system engineers to express complex, temporal specifications to be checked against the logged data of the autonomous control program. A feature of both the logging and analysis is that they can work with distributed programs. All data is synchronized into a common database. The data logging tools and the interval logic are fully implemented. Results are given from a NASA distributed autonomous control system application.